Diff: quadCommand/quadCommand.h

Revision:

59:9dfd9169a5e7

Parent:

58:983801808a94

Child:

62:70fc58d4be9b

--- a/quadCommand/quadCommand.h	Wed Jul 03 03:51:45 2013 +0000
+++ b/quadCommand/quadCommand.h	Wed Jul 03 04:45:03 2013 +0000
@@ -31,10 +31,10 @@
 
 // PID constants.
 #define DEFAULT_WINDUP_GUARD 5.0        // Integral windup.
-#define PID_P 8.0                       // Proportional gain.
+#define PID_P 2.0                       // Proportional gain.
 #define PID_I 0.0                       // Integral gain.
 #define PID_D 0.0                       // Derivative gain.
-#define MOTOR_UPDATE       100.0        // Motor update speed.
+#define MOTOR_UPDATE       150.0        // Motor update speed.
 
 class quadCommand 
 {
@@ -63,6 +63,7 @@
         
         float pitchTrim;                // Trim the pitch.
         float rollTrim;                 // Trim the roll.
+        float yawTrim;                  // Trim the yaw.
         
         float targetThrottle;           // Desired throttle.
         float targetPitch;              // Desired pitch.